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This article presents an example of how a fault-diagnosis course has been included in an engineering curricula in a motivating way, in particular, in the automatic control and robotic master's degree program at UPC. This article also shows how a PBL methodology has been used in the lab sessions to introduce students to model-based fault diagnosis. With this methodology, a real-world problem is used to increase students' interest and at the same time help them to acquire and apply new knowledge in a problem-solving context. Observerand parity-equations-based methods for fault detection and structured residuals for fault isolation are introduced to the students from a practical point of view by lab exercises. The course also motivates the interest in fault diagnosis as a first step toward the design of a fault-tolerant control system. Assessment results and student surveys carried out before and after the application of the PBL methodology confirm the increase of interest and fulfillment of the SLOs.

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